/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "motor.h"
#include "scheduler.h"
#include "key.h"
#include "led.h"
#include "scom.h"
#include "foc.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
volatile uint8_t TRUE = 1;
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void) {
    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */

    /* MCU Configuration--------------------------------------------------------*/

    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();

    /* USER CODE BEGIN Init */

    /* USER CODE END Init */

    /* Configure the system clock */
    SystemClock_Config();

    /* USER CODE BEGIN SysInit */

    /* USER CODE END SysInit */

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_TIM1_Init();
    MX_DMA_Init();
    MX_ADC_Init();
    MX_USART1_UART_Init();
    /* USER CODE BEGIN 2 */

    KEY_Init();
    SCOM_Init();
    SCH_Init(&scheduler);

    MOTO_Init(&motor);

    /* USER CODE END 2 */

    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (TRUE) {
        if (scheduler.Hz200) {
            scheduler.Hz200 = 0;
            KEY_Scan();
        }
        if (scheduler.Hz100) {
            scheduler.Hz100 = 0;
            if(ERR_State.all == 0){
                u_printf("$%d %d %d %d;",motor.dq_curr.q, Iqpi.iOut, Iqpi.out, motor.dq_dest.q);
            }
        }
        if (scheduler.Hz50) {
            scheduler.Hz50 = 0;
            if(ERR_State.all == 0){
//                u_printf("$%d %d %d %d;", current.phase.a, current.phase.b, current.filter.a, current.filter.b);
//                u_printf("$%d %d;", motor.ap_curr.alpha, motor.ap_curr.beta);
//                u_printf("$%d %d;", motor.ap_curr.alpha, motor.ap_curr.beta);
//                u_printf("$%d %d;", motor.dq_filter.d, motor.dq_filter.q);
//                u_printf("$%d %d %d;",Iqpi.pOut, Iqpi.iOut, Iqpi.out);
//                u_printf("$%d %d;",motor.dq_curr.q, motor.dq_fcur.q);
//
//                u_printf("$%d %d %d %d;", motor.dq_out.d, motor.dq_filter.d, motor.dq_out.q, motor.dq_filter.q);
//                u_printf("$%d %d;", motor.dq_err.d, motor.dq_err.q);
//                u_printf("$%d %d;", current.phase.b, current.filter.b);
            }

        }
        if (scheduler.Hz20) {
            scheduler.Hz20 = 0;
            if(ERR_State.all == 0){

            }
        }
        if (scheduler.Hz10) {
            scheduler.Hz10 = 0;
            if(ERR_State.all == 0){

            }
        }
        if (scheduler.Hz5) {
            scheduler.Hz5 = 0;
            if (ERR_State.all == 0)
                LED_Toggle();
            else
                LED_SetState(1);
        }
        /* USER CODE END WHILE */

        /* USER CODE BEGIN 3 */
    }
    /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void) {
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

    /** Initializes the RCC Oscillators according to the specified parameters
    * in the RCC_OscInitTypeDef structure.
    */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI14 | RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.HSI14State = RCC_HSI14_ON;
    RCC_OscInitStruct.HSI14CalibrationValue = 16;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4;
    RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
        Error_Handler();
    }
    /** Initializes the CPU, AHB and APB buses clocks
    */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
                                  | RCC_CLOCKTYPE_PCLK1;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK) {
        Error_Handler();
    }
    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;
    PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK1;
    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
        Error_Handler();
    }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void) {
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (TRUE) {

    }
    /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

